CN1398703A - Driving robot wrist - Google Patents
Driving robot wrist Download PDFInfo
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- CN1398703A CN1398703A CN 02129665 CN02129665A CN1398703A CN 1398703 A CN1398703 A CN 1398703A CN 02129665 CN02129665 CN 02129665 CN 02129665 A CN02129665 A CN 02129665A CN 1398703 A CN1398703 A CN 1398703A
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- rotary body
- bearing
- driving robot
- universal coupler
- rotational
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Abstract
The present invention discloses a kind of driving robot wrist with two to three rotation degrees of freedom. The driving robot wrist with three rotation degrees of freedom consists of an upper rotating body, a lower rotating body and an output end, the upper rotating body and the lower rotating body are connected via bearing with bi-directional universal coupler, bevel gear mounted on the bidirectional universal coupler and an end gear meshed with the level bear; and the output end is mounted on the output shaft of the bidirectional universal coupler and connected to the upper rotating body. On the basis of driving robot wrist with three rotation degrees of freedom, eliminating the bevel gear and the end gear constituting a mesh pair can form simple and compact driving robot wrist with two rotation degrees of freedom.
Description
Technical field
The present invention relates to a kind of robot, in particular, it relates to a kind of robot wrist mechanism.
Background technology
At present, in medical treatment, military affairs, light industry, automobile and other industries, owing to have many mankind's hand, the workplace that can't touch of eye, or because reasons such as dangerous, poisonous, radiation make operations such as the people can't accurately locate specific object, detection, imaging.Therefore, allow robot replace the people to finish some particular job and become a kind of pressing for.
Scholar both domestic and external has made big quantity research in this respect, the record of a tree name Patent data and document, and present disclosed robot wrist mechanism has reached tens of kinds more than:
Rosheim with the U.S. is the Pitch-yaw-roll Three Degree Of Freedom wrist that representative, other countries also have, and its structure is based on connecting rod, sector gear, planetary gear, differential gearing and just be with transmission etc.This transmission principle seems simply, and is complicated actually, is difficult to make assembling.
A kind of two-freedom active hinge that imitates the terminal joint motions form of similar human finger that Japan NEC Corporation applies for a patent, be transformed into the device that can be completely achieved the terminal joint motions of human finger by the Ryew of Korea S and Choi, the Paljug of the U.S. has then utilized above-mentioned hinge, produces the snake-shaped robot mock-up of one 12 free degree.This hinge is based on the single universal joint transmission, and it is little to reach the space, and orientation capability is poor.
The flexible waist of " east " paint-spray robot of China, copy the manufacturing of the Trallfa of Norway robot wrist, it has utilized the Hindley worm gear transmission mechanism, but because there is original reason error in Hindley worm gear, manufacture difficulty is big, and the hemi-spherical ended shape insert wheel set is subjected to the restriction of engagement range usually, and it is not high to make it the attitude positioning accuracy.
Other has the submissive wrist of RCC-Remote Center Compliance, though can make flexible member produce distortion by the contact force between holding workpiece and assembling object, and finely tune terminal attitude with this, its structure is not suitable for realizing the needs of big attitude occasion.
Once be considered as the sphere parallel mechanism and the Stewart platform of wrist structure, then, be difficult to obtain practical application usually because physical dimension and orientation capability are restricted.
As seen, above-mentioned various robot wrists are all existing the driving member complexity in varying degrees, can reach different defectives such as the space is little, orientation capability is bad, and practicality is not strong.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of amount of parts few, simple and compact for structure, can realize plug and play and in limited space, have the robot wrist mechanism of dexterity.
Technical scheme of the present invention has two kinds:
A kind of is the three-rotational-freedom driving robot wrist, it is by last rotary body, following rotary body and output constitute, the described rotary body of going up connects by bearing with following rotary body, its inside is provided with double universal coupler, be contained in bevel gear on the described double universal coupler by bearing holder (housing, cover), and constitute the face gear of Meshing Pair with described bevel gear, described bevel gear connects with described rotary body down by bearing, described face gear and last rotary body are affixed, and described output is sleeved on the output shaft of described double universal coupler and by bearing and connects with last rotary body.
Another kind is two rotational freedom driving robot wrists, it is made of last rotary body, following rotary body and output, the described rotary body of going up connects by bearing with following rotary body, and its inside is provided with double universal coupler, and described output is sleeved on the output shaft and with last rotary body and is connected.
For making driving robot wrist running of the present invention more flexible, light, be provided with the slippage pair the two kinds of described robot wrist of technical scheme inside, and make described rotary body and the following rotary body gone up with light metal alloy.
The present invention has selected the kind of drive of " universal coupling is nested with bevel gear-face gear " for use, compared with prior art, its advantage is: moulding is small and exquisite, compact conformation, and orientation capability is good, degree of modularity height, be convenient to the system integration, promptly can be used as separate modular and use, by with the adaptive formation multiple degrees of freedom of robot body end effector, can also the serial connection mode constitute the active compliance wrist of robot, become effective extension of human visual, sense of touch etc.
Description of drawings
Fig. 1 is three-rotational-freedom robot wrist's initial position figure;
Fig. 2 is three-rotational-freedom robot wrist's extreme position figure;
Fig. 3 is two rotational freedom robot wrists' initial position figure;
Fig. 4 is two rotational freedom robot wrists' extreme position figure.
Among the figure: 20 times rotary body drive motors-gear reduction system of rotary body drive motors-gear reduction system, 21 output shaft drive motors-gear reduction system 22 on 2 times rotary bodies of rotary body, 3 double universal couplers, 4 bearings, 5 travelling gears, 6 travelling gears, 7 travelling gears, 8 bearings, 9 bearings, 10 bearings, 11 bevel gears, 12 face gears, 13 bearings, 14 cross axles, 15 output shafts, 16 mid portions, 17 cross axles, 18 power shafts 19 on the output 1
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
(1) three-rotational-freedom driving robot wrist:
As Fig. 1 and shown in Figure 2: the three-rotational-freedom driving robot wrist, by output 1, last rotary body 2 and following rotary body 3 constitute, the described rotary body 2 of going up connects by bearing 10 with following rotary body 3, its inside is provided with double universal coupler 4, be sleeved on bevel gear 12 on the described double universal coupler 4 by bearing 11, and constitute the face gear 13 of Meshing Pair with described bevel gear 12, described bevel gear 12 connects with described rotary body 3 down by bearing 9, described face gear 13 is affixed with last rotary body 2, and described output 1 is sleeved on the output shaft 16 of double universal coupler and by bearing 14 and connects with last rotary body 3.
This Wrist mechanism can will drive with transmission system by bearing 5 and be packaged in frame inside, and can connect with robot body by frame, and the output flange can connect end effector (first-class as making a video recording), and the implementation space Three Degree Of Freedom rotates.
Motor- gear reduction system 20,21,22 is formed the drive system of this mechanism, passes through travelling gear 6,7,8 drive output 1 respectively, goes up rotary body 2 and following rotary body 3, forms three separate driving-chains:
Driving-chain A is made up of motor-gear reduction system 20, travelling gear 7, bevel gear 12, face gear 13 and last rotary body 2, and travelling gear 7 is connected with bevel gear 12, and face gear 13 is connected with last rotary body 2;
Driving-chain B is made up of motor-gear reduction system 21, travelling gear 6 and following rotary body 3, and travelling gear 6 is connected with following rotary body 3; End 1 is formed, and the power shaft 19 of double universal coupler 4 connects with travelling gear 8, and output shaft 16 drives output 1 and rotates.
The formation principle of three-rotational-freedom is: the rotation of the faying face of last rotary body 2, following rotary body 3 and the rotation of following rotary body 3 and output 1 is α at an angle, when last rotary body 2 about the faying face normal direction when down rotary body 3 rotates, can produce spherical crown motion with two frees degree, its centre of sphere angle is 2 α, output 1 rotates around axis, can independently adjust its spin angle, and then the formation space three-freedom rotatablely moves.
(2) two rotational freedom driving robot wrists:
Sometimes, the robot wrist links to each other with robot body does not need the motion of output around the rotation of self axis, or in order to improve its local flexibility ratio, there is no need the spin free degree is integrated within the wrist structure yet.Therefore, on the basis of aforementioned three-rotational-freedom driving robot wrist mechanism, remove bevel gear 12 and Meshing Pair and corresponding motor-gear reduction 20 that face gear 13 constitutes, just form two more simple, compact rotational freedom driving robot wrists.
As shown in Figure 3 and Figure 4: two rotational freedom driving robot wrists, constitute by output 1, last rotary body 2 and following rotary body 3, the described rotary body 2 of going up connects by bearing 10 with following rotary body 3, its inside is provided with double universal coupler 4, and described output 1 is sleeved on the output shaft 16 of double universal coupler and with last rotary body 2 and is connected.
This Wrist mechanism will drive with transmission system by bearing 5 equally and be packaged in frame inside, and connect with robot body by frame, and the output flange can connect end effector (first-class as making a video recording), and implementation space two degrees of freedom is rotated.
The drive system of two rotational freedom driving robot wrist mechanisms, with above-mentioned three-rotational-freedom machine become owner of start wrist mechanism different be to have lacked driving-chain A.In addition, the transmission mechanism of remainder and operation principle and three-rotational-freedom driving robot wrist are identical.
For making driving robot wrist running of the present invention more flexible, be provided with the slippage pair the two kinds of described robot wrist of technical scheme inside, constant with the axial location that guarantees output 1.Below be the two kind situations of slippage vice division chief in diverse location:
(1) between output shaft 16 and output 1 the slippage pair is set, when output 1 moved to extreme position, the mid portion 17 of double universal coupler 4 was about upper and lower rotary body 2,3 center symmetries.Like this, if the cross axle 18 on the axial restraint double universal coupler 4 then can slide between output shaft 16 and the output 1 relatively.
(2) in the inside of the mid portion 17 of double universal coupler 4 the slippage pair is set, makes the cross axle 15 of double universal coupler 4 tops and the following cross axle 18 can be all the time about upper and lower rotary body 2,3 center symmetries in the mechanism kinematic process.This mode has been utilized the normal structure of terminal mobile model double universal coupler.
The present invention is based on modularization idea, the transmission mechanism of " double universal coupler is nested with bevel gear-face gear " is packaged in the wrist inside configuration, and reserve machinery and electric interfaces.
For making robot wrist of the present invention lighter, described rotary body 2 and the following rotary body 3 gone up can adopt light metal alloy (as aluminium alloy etc.) manufacturing.
Because the practical application operating mode of mechanism is the low speed underloading, so except that rolling bearing, also can use the dry friction sliding bearing.
The present invention can be used for the manipulator finger joint, also can be used as the motion carrier of sensors such as vision, sense of touch, can also be connected with control system as feedback device, and the position and the attitude of end effector automatically adjusted.
With the small-sized and even microrobot of this mechanism as the driving of active joint, promptly can be made into snake-shaped robot, can be made into the climbing robot that wheel drives again, go to finish the work such as detection, reparation, welding, desilting of pipe interior to replace the people, and can be made into Gant-robot.
Claims (10)
1. three-rotational-freedom driving robot wrist, it is characterized in that, it is by last rotary body, following rotary body and output constitute, the described rotary body of going up connects by bearing with following rotary body, its inside is provided with double universal coupler, be contained in bevel gear on the described double universal coupler by bearing holder (housing, cover), and constitute the face gear of Meshing Pair with described bevel gear, described bevel gear connects with described rotary body down by bearing, described face gear and last rotary body are affixed, and described output is sleeved on the output shaft of described double universal coupler and by bearing and connects with last rotary body.
2. three-rotational-freedom driving robot wrist according to claim 1 is characterized in that the inside of described double universal coupler mid portion is provided with Sliding Structures.
3. three-rotational-freedom driving robot wrist according to claim 1 is characterized in that, is provided with Sliding Structures between the output shaft of described double universal coupler and the output.
4. three-rotational-freedom driving robot wrist according to claim 1 is characterized in that, described bearing is a rolling bearing.
5. three-rotational-freedom driving robot wrist according to claim 1 is characterized in that, described bearing is the dry friction sliding bearing.
6. rotational freedom driving robot wrist, it is characterized in that, it is made of last rotary body, following rotary body and output, the described rotary body of going up connects by bearing with following rotary body, its inside is provided with double universal coupler, and described output is sleeved on the output shaft of described double universal coupler and with last rotary body and is connected.
7. two rotational freedom driving robot wrists according to claim 6 is characterized in that the inside of described double universal coupler mid portion is provided with Sliding Structures.
8. two rotational freedom driving robot wrists according to claim 6 is characterized in that, are provided with Sliding Structures between the output shaft of described double universal coupler and the output.
9. two rotational freedom driving robot wrists according to claim 6 is characterized in that described bearing is a rolling bearing.
10. two rotational freedom driving robot wrists according to claim 6 is characterized in that described bearing is the dry friction sliding bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02129665 CN1285447C (en) | 2002-09-10 | 2002-09-10 | Driving robot wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02129665 CN1285447C (en) | 2002-09-10 | 2002-09-10 | Driving robot wrist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1398703A true CN1398703A (en) | 2003-02-26 |
| CN1285447C CN1285447C (en) | 2006-11-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02129665 Expired - Fee Related CN1285447C (en) | 2002-09-10 | 2002-09-10 | Driving robot wrist |
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| CN (1) | CN1285447C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229440B (en) * | 2007-12-28 | 2010-08-11 | 燕山大学 | Neck joint of robot |
| CN102029614A (en) * | 2011-01-24 | 2011-04-27 | 哈尔滨工业大学 | Three-degree-of-freedom spherical space robot wrist |
| CN102848383A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed moving parallel mechanical arm with six degrees of freedom |
| CN103640011A (en) * | 2013-11-26 | 2014-03-19 | 东莞华中科技大学制造工程研究院 | Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot |
| CN108436550A (en) * | 2018-04-17 | 2018-08-24 | 上海新山田精密刀具有限公司 | A kind of multifunctional universal cushion block |
| CN109318252A (en) * | 2018-10-24 | 2019-02-12 | 上海机器人产业技术研究院有限公司 | A kind of Three Degree Of Freedom wrist and its kinematic calculation method |
| CN117224242A (en) * | 2023-11-10 | 2023-12-15 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
| CN109318252B (en) * | 2018-10-24 | 2024-04-12 | 上海机器人产业技术研究院有限公司 | Wrist with three degrees of freedom and kinematic calculation method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
-
2002
- 2002-09-10 CN CN 02129665 patent/CN1285447C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229440B (en) * | 2007-12-28 | 2010-08-11 | 燕山大学 | Neck joint of robot |
| CN102029614A (en) * | 2011-01-24 | 2011-04-27 | 哈尔滨工业大学 | Three-degree-of-freedom spherical space robot wrist |
| CN102848383A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed moving parallel mechanical arm with six degrees of freedom |
| CN102848383B (en) * | 2012-04-12 | 2015-01-14 | 天津大学 | High-speed moving parallel mechanical arm with six degrees of freedom |
| CN103640011A (en) * | 2013-11-26 | 2014-03-19 | 东莞华中科技大学制造工程研究院 | Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot |
| CN103640011B (en) * | 2013-11-26 | 2015-10-14 | 东莞华中科技大学制造工程研究院 | Three Degree Of Freedom wrist and Novel six freedom DELTA robot |
| CN108436550A (en) * | 2018-04-17 | 2018-08-24 | 上海新山田精密刀具有限公司 | A kind of multifunctional universal cushion block |
| CN109318252A (en) * | 2018-10-24 | 2019-02-12 | 上海机器人产业技术研究院有限公司 | A kind of Three Degree Of Freedom wrist and its kinematic calculation method |
| CN109318252B (en) * | 2018-10-24 | 2024-04-12 | 上海机器人产业技术研究院有限公司 | Wrist with three degrees of freedom and kinematic calculation method thereof |
| CN117224242A (en) * | 2023-11-10 | 2023-12-15 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
| CN117224242B (en) * | 2023-11-10 | 2024-01-09 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1285447C (en) | 2006-11-22 |
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